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isbn = "978-1-7281-4004-9", doi = "10.1109/IROS40897.2019.8967820" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190201-135605069, title = "2019 American Control Conference (ACC)", chapter = "Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135605069", id = "record", isbn = "978-1-5386-7926-5", doi = "10.23919/ACC.2019.8814437" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190201-135601629, title = "2019 American Control Conference (ACC)", chapter = "Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135601629", id = "record", isbn = "978-1-5386-7926-5", doi = "10.48550/arXiv.1810.06697" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190905-142648478, title = "2019 American Control Conference (ACC)", chapter = 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volume = "62" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063, title = "2017 IEEE Conference on Control Technology and Applications", chapter = "Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds", year = "2017", url = "https://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063", id = "record", isbn = "978-1-5090-2182-6", doi = "10.1109/CCTA.2017.8062713" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20170608-073936974, title = "First steps toward formal controller synthesis for bipedal robots with experimental implementation", journal = "Nonlinear Analysis: Hybrid Systems", year = "2017", url = "https://resolver.caltech.edu/CaltechAUTHORS:20170608-073936974", id = "record", issn = "1751-570X", doi = "10.1016/j.nahs.2017.01.002", volume = "25" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310, title = "2017 IEEE International Conference on Robotics and Automation (ICRA)", 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@article{https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151, title = "Robustness of Control Barrier Functions for Safety Critical Control", journal = "IFAC-PapersOnLine", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151", id = "record", issn = "2405-8963", doi = "10.1016/j.ifacol.2015.11.152", volume = "48" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181, title = "2015 IEEE International Conference on Rehabilitation Robotics (ICORR)", chapter = "Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181", id = "record", isbn = "978-1-4799-1808-9", doi = "10.1109/icorr.2015.7281210" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163, title = "2015 American Control Conference (ACC)", chapter = "Control barrier function based quadratic programs 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chapter = "Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057", id = "record", isbn = "978-1-4799-6923-4", doi = "10.1109/ICRA.2015.7140004" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852, title = "2015 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Model predictive control of underactuated bipedal robotic walking", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852", id = "record", isbn = "978-1-4799-6923-4", doi = "10.1109/ICRA.2015.7139912" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288, title = "Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics", chapter = "Composing Dynamical Systems to Realize Dynamic Robotic Dancing", year = 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"10.1109/cdc.2014.7039482" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821, title = "53rd IEEE Conference on Decision and Control", chapter = "Hierarchical control of series elastic actuators through control Lyapunov functions", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7039848" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390, title = "53rd IEEE Conference on Decision and Control", chapter = "Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7039843" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153, title = "53rd IEEE Conference on Decision and Control", chapter = "Control barrier 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= "10.1109/ICRA.2014.6907026" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175, title = "2014 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Human-inspired walking via unified PD and impedance control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175", id = "record", isbn = "978-1-4799-3685-4", doi = "10.1109/icra.2014.6907605" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984, title = "2014 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Planar multi-contact bipedal walking using hybrid zero dynamics", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984", id = "record", isbn = "978-1-4799-3685-4", doi = "10.1109/ICRA.2014.6907229" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788, title = "2014 American Control Conference", chapter = "Quadratic program based control of fully-actuated 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"10.1109/IROS.2013.6696968" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850, title = "2013 IEEE International Conference on Robotics and Automation", chapter = "Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics", year = "2013", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850", id = "record", isbn = "978-1-4673-5643-5", doi = "10.1109/ICRA.2013.6631262" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450, title = "51st IEEE Conference on Decision and Control", chapter = "Control Lyapunov functions and hybrid zero dynamics", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450", id = "record", isbn = "978-1-4673-2066-5", doi = "10.1109/CDC.2012.6426229" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671, title = "2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)", chapter = "Achieving bipedal locomotion on rough terrain through human-inspired control", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671", id = "record", isbn = "978-1-4799-0165-4", doi = "10.1109/SSRR.2012.6523897" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950, title = "2012 American Control Conference (ACC)", chapter = "Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950", id = "record", isbn = "978-1-4577-1096-4", doi = "10.1109/ACC.2012.6315667" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208, title = "2012 American Control Conference (ACC)", chapter = "Outputs of human walking for bipedal robotic controller design", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208", id = "record", isbn = "978-1-4577-1096-4", doi 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chapter = "Compass gait revisited: A human data perspective with extensions to three dimensions", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416", id = "record", isbn = "978-1-61284-801-3", doi = "10.1109/CDC.2011.6161473" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216, title = "2011 50th IEEE Conference on Decision and Control and European Control Conference", chapter = "Rank deficiency and superstability of hybrid systems with application to bipedal robots", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216", id = "record", isbn = "978-1-61284-801-3", doi = "10.1109/CDC.2011.6160972" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398, title = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems", chapter = "Simulating prosthetic devices with human-inspired hybrid control", year = "2011", url = 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Zeno? Taking executions past the breaking (Zeno) point", year = "2006", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-131542421", id = "record", isbn = "1-4244-0209-3", doi = "10.1109/ACC.2006.1656623" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663, title = "2006 American Control Conference", chapter = "Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry", year = "2006", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663", id = "record", isbn = "1-4244-0209-3", doi = "10.1109/ACC.2006.1656622" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190307-105929555, title = "2006 American Control Conference", chapter = "Error bounds based stochastic approximations and simulations of hybrid dynamical systems", year = "2006", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-105929555", id = "record", isbn = "1-4244-0209-3", doi = "10.1109/ACC.2006.1657470" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190305-084057276, title = "2006 American Control Conference", chapter = "A priori detection of Zeno behavior in communication networks modeled as hybrid systems", year = "2006", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-084057276", id = "record", isbn = "1-4244-0209-3", doi = "10.1109/ACC.2006.1657234" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20110120-091215904, title = "Proceedings of the 45th IEEE Conference on Decision and Control", chapter = "Hybrid Geometric Reduction of Hybrid Systems", year = "2006", url = "https://resolver.caltech.edu/CaltechAUTHORS:20110120-091215904", id = "record", isbn = "978-1-4244-0170-3", doi = "10.1109/CDC.2006.377245" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190307-111103826, title = "Proceedings of the 44th IEEE Conference on Decision and Control", chapter = "On the Partitioning of Syntax and Semantics For Hybrid Systems Tools", year = "2005", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-111103826", id = "record", isbn = "0-7803-9567-0", doi = "10.1109/CDC.2005.1582903" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190305-074933127, title = "Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference", chapter = "Sufficient Conditions for the Existence of Zeno Behavior", year = "2005", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074933127", id = "record", isbn = "0-7803-9568-9", doi = "10.1109/CDC.2005.1582237" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190304-152359371, title = "2005 American Control Conference", chapter = "Characterization of Zeno behavior in hybrid systems using homological methods", year = "2005", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190304-152359371", id = "record", isbn = "0-7803-9098-9", doi = "10.1109/ACC.2005.1470118" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190305-074604391, title = "2005 American Control Conference", chapter = "Stochastic approximations of hybrid systems", year = "2005", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074604391", id = "record", isbn = "0-7803-9098-9", doi = "10.1109/ACC.2005.1470189" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190307-123634418, title = "43rd IEEE Conference on Decision and Control", chapter = "Blowing up affine hybrid systems", year = "2004", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-123634418", id = "record", isbn = "0-7803-8682-5", doi = "10.1109/CDC.2004.1428675" }